Rapid control prototype design method, system and terminal

Abstract

The invention relates to the technical field of automation and intelligent control design, and discloses a rapid control prototype design method, system and terminal. The design method comprises the following steps: adding a cloud service program in a lower computer; the upper computer browser sends a page request to the cloud service program, a Web application is constructed, and the Web application comprises a model library browser, a graphical modeling area and a rapid control prototype operation monitoring window; the Web application sends a graphical modeling operation to the cloud service program; the cloud service program updates a connection relationship between member components and component ports of the rapid control prototype according to the operation; the prototype operation monitoring window is rapidly controlled to send a starting instruction, the cloud service program analyzes a member component port connection relation to obtain a member component execution sequence, control functions corresponding to member components are sequentially called to complete controller calculation, and an operation result is sent to the Web application in real time. According to the method, code generation, compiling and downloading are not needed, the software architecture is simple, the usability is high, the research and development cost is lower, and maintenance is easy.

Description

Technical Field

[0001] The present invention relates to the field of automation and intelligent control design technology, and in particular to a rapid control prototype design method, system and terminal. Background Art

[0002] With the rapid development of industrial products, people's performance requirements for controllers are increasing day by day. When facing the control requirements of complex equipment, it has become an important means to use model-based design methods instead of directly writing C code. For example, the prior art provides how to use the "code automatic generation" function of the Embeded Coder (embedded code generator) of the MATLAB platform to achieve rapid control prototyping (RCP) design; for example, the prior art provides how to use the RTW / TLC (target language compiler) provided by MATLAB / Simulink to generate RCP to run on dSPACE (a control system development software and hardware platform running a real-time operating system); for example, the prior art also provides a solution based on National Instruments (NI), that is, LabVIEW completes RCP modeling and code generation, and Veristand monitors the control program running in a dedicated computing device.

[0003] The technical routes of the RCP method provided by the above-mentioned prior art are roughly the same, mainly including 4 steps: ① The industrial software provides a graphical modeling environment, including rich model elements that can correspond to some basic elements of the control algorithm; ② The designer transforms the design idea into a control system model composed of model elements in the graphical environment; ③ The industrial software translates the control system model into intermediate code (usually C code, and auxiliary code for convenient monitoring may be inserted); ④ The target code compiler compiles the intermediate code into an executable program on the target controller. The RCP method also belongs to the Model Based Definition (MBD) method, that is, the actual control program is generated by the model. Designers no longer need to maintain monotonous and error-prone programming language codes, but maintain graphical and modular models. The use of graphical models can also effectively improve the reusability of modules and subsystems, facilitate the management of design parameters, and thus significantly improve the design efficiency of the controller.

[0004] Although the existing RCP method has many advantages over the traditional handwritten C code, the existing model-based design method still has the following problems:

[0005] 1) The design software running on a common PC (usually called the host computer) generates intermediate code, which is then compiled into executable code by calling the target platform compiler. Finally, it is downloaded to the target controller (usually called the slave computer) through a serial port or network cable. In the process of complex RCP design, the design scheme often needs to be frequently modified, so it is necessary to repeatedly generate code, compile, and download, which takes a lot of time.

[0006] 2) The executable program running on the slave computer has no direct connection with the upper computer software. Therefore, in order to run the control program in the slave computer and realize monitoring and control, it is necessary to develop an additional upper computer software, such as Veristand from NI and ControlDesk from dSPACE. In addition, customized code generation and compiler (TargetLanguage Compiler, TLC) are required to add additional code for communication with the upper computer in addition to the control code. The price of these software is usually high. If dedicated computing hardware, such as dSPACE, is used, the cost will be further increased;

[0007] 3) Since it involves multiple software and a relatively complex usage process, users need to be familiar with the host controller design software, the host monitoring and control software, and be able to handle error information generated by code generation, compilation, downloading, etc. The requirements for users are high and the ease of use is poor. Summary of the invention

[0008] The purpose of the present invention is to provide a rapid control prototype design method, system and terminal, add a cloud service program on a lower computer server, configure the http service IP and port number, the user enters the IP and port number in the browser address bar in the upper computer to start a Web application, and sends a graphical modeling operation to the lower computer through the Web application to establish and modify the RCP model. In the design of complex RCP, there is no need for repeated code generation, compilation and downloading, the software architecture is simpler, the R&D cost is lower, it is easier to maintain, and the usability is higher.

[0009] In order to achieve the above object, the present invention provides the following technical solutions:

[0010] In a first aspect, the present invention provides a rapid control prototyping method, comprising:

[0011] S1. Add a cloud service program on the lower server. The cloud service program includes at least: http service subroutine, rapid control prototyping subroutine and operation monitoring subroutine; run the cloud service program, configure the http service IP and port number;

[0012] S2. Start the browser on the host computer, enter the IP and port number, and send a page request for the Web application to the http service subroutine;

[0013] S3. The http service subroutine responds to the page request and completes the communication connection between the upper computer and the lower computer. The lower computer sends the resource files required to create the Web application to the browser. The resource files at least include the basic component description file of the controller model.

[0014] S4. The browser builds a Web application based on the resource file, and the Web application includes at least: a model library browser, a graphical modeling area, and a rapid control prototype operation monitoring window;

[0015] S5. Establishing an operation conversion protocol between the host computer and the slave computer, the Web application sends each step of the graphical modeling operation to the rapid control prototyping subroutine according to the operation conversion protocol, and the rapid control prototyping subroutine obtains a rapid control prototype according to the received modeling operation;

[0016] S6. The rapid control prototype operation monitoring window in the Web application sends a start-up operation message to the rapid control prototype subroutine. The lower computer runs the rapid control prototype and sends the operation result to the upper computer in real time. The rapid control prototype is maintained or updated according to the operation result.

[0017] As a possible implementation method, the host computer displays the running result in the control prototype running monitoring window to determine whether the running result meets the design requirements. If so, the rapid control prototype is maintained; otherwise, S5 is executed to update the rapid control prototype.

[0018] As a possible implementation method, the graphical modeling area provides graphical modeling operations to complete the rapid control prototype construction; the graphical modeling operations at least include: drag-and-drop operations, wiring operations and parameter configuration operations;

[0019] The drag-and-drop operation is to drag the controller model basic component in the model library browser and place it into the graphical modeling area, and the Web application draws a graphic mark corresponding to the controller model basic component in the graphical modeling area;

[0020] The connection operation is to click the input and output ports on the graphic mark in sequence, and the Web application draws a connection line in the graphical modeling area to establish a connection relationship between the graphic mark ports;

[0021] The parameter configuration operation is to modify the parameter values ​​of the basic components of the controller model through the parameter configuration dialog box.

[0022] As a possible implementation method, the lower computer runs a rapid control prototype, including:

[0023] S60. Preset the termination condition of the operation;

[0024] S61. Determine whether it is the first run. If so, sort all components to obtain the first execution sequence of all components; otherwise, detect whether the topological relationship of the components in this run has changed compared with the last run; if so, re-sort all components to obtain the updated execution sequence of all components; otherwise, retain the historical execution sequence of all components in the last run;

[0025] S62. Based on the execution sequence obtained in S61, execute the operation function corresponding to each component in turn to obtain the calculation result of each component;

[0026] S63. Transmitting the calculation results of each component and the current operating status of the rapid control prototype to the host computer;

[0027] S64. Determine whether the preset termination condition is met, if so, execute S65; otherwise, jump to S62;

[0028] S65. Send a termination message to the host computer to terminate the operation of the rapid control prototype.

[0029] As a possible implementation manner, the operation function includes: four arithmetic operation functions, trigonometric functions, logical operation functions, interpolation operation functions and state machine operation functions.

[0030] As a possible implementation method, an operation conversion protocol is established between the upper computer and the lower computer. Specifically, each graphical operation is represented by structured data and sent to the lower computer. The lower computer parses the received structured data into the corresponding operation.

[0031] As a possible implementation method, parameter estimation is performed before running the rapid control prototype or before executing the running function corresponding to each component in sequence; parameter estimation is to convert the parameter assignment expression obtained in the parameter configuration dialog box into a numerical value.

[0032] In a second aspect, the present invention provides a rapid control prototyping system, including: a browser and a cloud service module, the cloud service module including an http service submodule, a rapid control prototyping submodule and an operation monitoring submodule;

[0033] The cloud service module generates the IP and port number of the http service, the browser logs in to the IP and port number, and sends a page request for the web application to the http service submodule;

[0034] The http service submodule responds to the page request and sends the resource files required for creating the Web application to the browser, where the resource files at least include a controller model basic component description file; the browser builds the Web application based on the resource files sent by the http service submodule;

[0035] The rapid control prototype submodule is used to parse the graphical modeling operations sent by the Web application and convert them into corresponding operations to obtain a rapid control prototype;

[0036] The operation monitoring submodule is used to send a start-up operation message to the rapid control prototype submodule to run the rapid control prototype and provide real-time feedback on the operation results.

[0037] As a possible implementation, the Web application includes: a model library browser, a graphical modeling area, and a rapid control prototype operation monitoring window;

[0038] The model library browser is used to provide basic components of controller models;

[0039] The graphical modeling area is used to provide graphical modeling operations based on the basic components of the controller model, and send each step of the graphical modeling operation to the rapid control prototyping submodule;

[0040] The rapid control prototype operation monitoring window is used to display the operation results of the rapid control prototype.

[0041] In a third aspect, the present invention provides a terminal, including a processor and a communication interface coupled to the processor, wherein the processor is used to run a computer program or instruction to implement the rapid control prototyping method provided in the first aspect.

[0042] Compared with the prior art, the beneficial effects of the present invention are:

[0043] 1. The rapid control prototype design method proposed in the present invention adds a cloud service program on the lower computer server, and the lower computer cloud service program provides a rapid control prototype building function, that is, it realizes the direct creation of a rapid control prototype on the lower computer. Compared with the prior art of performing RCP modeling on the upper computer and then encoding, linking, and downloading to the lower computer, the present invention omits tedious operations such as encoding, linking, and downloading, can save a lot of time, and accelerate the verification and iteration of the rapid control prototype design solution.

[0044] 2. Since the present invention does not require compilation, linking, and downloading operations, there is no need for customized code generation and compilers. In addition, the present invention does not rely on dedicated hardware and can be deployed and implemented on hardware devices of common architectures, greatly reducing the development and maintenance costs of rapid control prototypes.

[0045] 3. The rapid control prototyping method proposed in the present invention does not involve complicated usage procedures and only requires the use of a Web application. It has high user universality and good operability.

[0046] 4. The rapid control prototyping design method proposed in the present invention adopts the method of cloud service plus Web application, which is easier to expand and can support application requirements such as remote design and collaborative design.

[0047] 5. The rapid control prototyping method proposed in the present invention does not require the host computer to provide modeling and monitoring software, but only needs a browser. Therefore, the host computer can choose multiple mainstream operating systems such as Windows, Linux, iOS, and Android, realizing cross-platform operation.

[0048] 6. The present invention still supports the C code generation function. According to the actual needs of the user, C code generation is only performed once when code transfer is required after the rapid control prototype design method is verified. It is suitable for both single development of rapid control prototypes and mass production. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0050] Figure 1 It is a diagram of the architecture of the rapid control prototyping method in an embodiment of the present invention;

[0051] Figure 2 is a flow chart of a rapid control prototyping method in an embodiment of the present invention;

[0052] Figure 3 A schematic diagram of a description file of an "addition element" in an embodiment of the present invention;

[0053] Figure 4 This is a schematic diagram of using labels and values ​​to represent specific operations in an embodiment of the present invention;

[0054] Figure 5 This is a flowchart of the rapid control prototype running on the lower computer in the embodiment of the present invention;

[0055] Figure 6 A process comparison diagram of the prior art and the method of the present invention in implementing rapid control prototype design and operation in an embodiment of the present invention;

[0056] Figure 7 , Figure 8 It is a display interface when the method of the present invention is actually used on a PC in an embodiment of the present invention;

[0057] Fig. 9 Schematic diagram of a rapid control prototyping system provided in an embodiment of the present invention.

[0058] Reference numerals

[0059] 1-browser, 10-web application, 100-model library browser, 101-graphical modeling area, 102-rapid control prototype operation monitoring window; 2-cloud service module, 20-http service sub-module, 21-rapid control prototype sub-module, 22-operation monitoring sub-module. DETAILED DESCRIPTION

[0060] In order to clearly describe the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, words such as "first" and "second" are used to distinguish the same items or similar items with basically the same functions and effects. For example, the first threshold and the second threshold are only used to distinguish different thresholds, and their order is not limited. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit them to be different.

[0061] It should be noted that, in the present invention, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0062] In the present invention, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. The following at least one item (items) or similar expressions thereof refer to any combination of these items, including any combination of single items (items) or plural items (items). For example, at least one item (items) of a, b or c can mean: a, b, c, the combination of a and b, the combination of a and c, the combination of b and c, or the combination of a, b and c, where a, b, c can be single or multiple.

[0063] The present invention aims to provide a rapid control prototyping design method, system and terminal to solve the problems existing in the existing RCP design method, such as time-consuming repeated code generation, compilation and downloading, high cost of additional development of host computer software, customized code generator and compiler, poor usability, etc.

[0064] In a first aspect, the present invention provides a rapid control prototyping method, see Figure 1 and Figure 2 ,include:

[0065] S1. Add a cloud service program on the lower server. The cloud service program includes at least: http service subroutine, rapid control prototyping subroutine and operation monitoring subroutine; run the cloud service program, configure the http service IP and port number;

[0066] The rapid control prototyping method provided by the present invention runs the core functions of the rapid control prototyping program in the form of a cloud service program on a lower computer. Exemplarily, the lower computer is a common (such as X86 or Aarch64) architecture computer running a real-time Linux or real-time Windows operating system.

[0067] S2. Start the browser on the host computer, enter the IP and port number, and send a page request for the Web application to the http service subroutine;

[0068] As an example, the host computer is a common architecture computer, and the browser on the host computer usually has integrated protocol modules Http(s), WebSoeckt(Secure), etc. Enter the IP and port number in the browser address bar, for example: http: / / 192.168.0.1:8080 / , and the browser sends a web application page request to the http service subroutine.

[0069] In the present invention, the host computer does not need to provide modeling and monitoring software, but only needs to have a browser. Therefore, the host computer can choose multiple mainstream operating systems such as Windows, Linux, iOS, and Android, realizing cross-platform operation.

[0070] S3. The http service subroutine responds to the page request and completes the communication connection between the upper computer and the lower computer. The lower computer sends the resource files required to create the Web application to the browser. The resource files at least include the basic component description file of the controller model.

[0071] As an example, the http service subroutine uses the Http (or Https) protocol to respond to page requests for creating Web applications; illustratively, the basic components of the controller model are components for building rapid control prototypes, and their description files are hierarchical description files obtained by classifying and summarizing the basic components of the controller model. For example, mathematical operations (addition, subtraction, trigonometric functions, etc.) are classified as Math types, and logical operations (and, or, not, etc.) are classified as Logical types. The description file at least includes the type (ID), description, input port definition, output port definition, parameter definition, etc.; for example, the description file of an "addition component" is as follows: Figure 3 As shown: It should be noted that resource files also include page static description files (HTML), page dynamic response script files (JavaScript) and image resource files, which are basic files used to build Web applications.

[0072] S4. The browser builds a Web application based on the resource file. The Web application includes at least: a model library browser, a graphical modeling area, and a rapid control prototype operation monitoring window; see Figure 1 The model library browser presents the controller model basic components in a tree-type graphic component according to the hierarchical controller model basic component description file. It should be explained that users can also customize or encapsulate specific components to form custom models and put them into the model library browser to improve the reusability of the controller model basic components.

[0073] As a possible implementation method, the graphical modeling area provides graphical modeling operations to complete the rapid control prototype construction; the graphical modeling operations at least include: drag-and-drop operations, wiring operations and parameter configuration operations;

[0074] See also Figure 1 , the drag-and-drop operation is to drag the controller model basic component in the model library browser and drop it into the graphical modeling area, and the Web application draws a graphic mark corresponding to the controller model basic component in the graphical modeling area;

[0075] See also Figure 1 ,The connection operation is to click the input and output ports on the graphic mark in turn, and the Web application draws ,connections in the graphical modeling area to establish the connection relationship between the ,graphical mark ports;

[0076] See also Figure 1 The parameter configuration operation is to modify the parameter values ​​of the basic components of the controller model through the parameter configuration dialog box.

[0077] S5. Establishing an operation conversion protocol between the host computer and the slave computer, the Web application sends each step of the graphical modeling operation to the rapid control prototyping subroutine according to the operation conversion protocol, and the rapid control prototyping subroutine obtains a rapid control prototype according to the received modeling operation;

[0078] As a possible implementation method, an operation conversion protocol is established between the upper computer and the lower computer. Specifically, each graphical operation is represented by structured data and sent to the lower computer. After the lower computer http service subroutine receives the structured data, it is transmitted to the rapid control prototype subroutine. The rapid control prototype subroutine parses the received structured data into corresponding operations, including adding components to the rapid control prototype, establishing connection relationships between components, and modifying component parameters.

[0079] As an example, each graphical operation is represented by structured data, that is, a label and a value are used to represent the specific operation. Figure 4The label cmd represents the operation type definition, and its value insert represents adding a component to the rapid control prototype. The specific data of the component is represented by the value corresponding to the label dat.

[0080] S6. The rapid control prototype operation monitoring window in the Web application sends a start-up operation message to the rapid control prototype subroutine. The lower computer runs the rapid control prototype and sends the operation result to the upper computer in real time. The rapid control prototype is maintained or updated according to the operation result.

[0081] As an example, the rapid control prototype operation monitoring window in the Web application is provided with start, pause, and stop buttons for controlling the operation of the rapid control prototype. The operation monitoring subroutine of the lower computer receives the start operation message, parses the start operation operation and sends it to the rapid control prototype subroutine to run the rapid control prototype. During the operation, the operation results are fed back to the upper computer in real time through the operation monitoring subroutine.

[0082] As a possible implementation method, the host computer displays the running result in the control prototype running monitoring window to determine whether the running result meets the design requirements. If so, the rapid control prototype is maintained; otherwise, S5 is executed to update the rapid control prototype.

[0083] As an example, see Figure 1 The operation results can be displayed in the control prototype operation monitoring window in various forms such as text, curves, charts, 3D graphics, etc.

[0084] See also Figure 5 ,As a possible implementation method, the lower computer runs a rapid control prototype, including:

[0085] S60. Preset the termination condition of the operation;

[0086] S61. Determine whether it is the first run. If so, sort all components to obtain the first execution sequence of all components; otherwise, detect whether the topological relationship of the components in this run has changed compared with the last run; if so, re-sort all components to obtain the updated execution sequence of all components; otherwise, retain the historical execution sequence of all components in the last run;

[0087] As an example, a change in the topological relationship means adding or deleting some components, or changing the connections between components; reordering all components means re-determining the order in which the components are executed.

[0088] S62. Based on the execution sequence obtained in S61, execute the operation function corresponding to each component in turn to obtain the calculation result of each component;

[0089] As a possible implementation manner, the operation function includes: four arithmetic operation functions, trigonometric functions, logical operation functions, interpolation operation functions and state machine operation functions.

[0090] As an example, the four arithmetic operations are addition, subtraction, multiplication and division functions; the trigonometric functions are sine, cosine, tangent, cotangent, secant and cosecant functions; the logical operation functions include AND, OR, NOT, AND / NOT, OR / NOT, AND / NOT, XOR and XNOR; the interpolation operation functions include linear interpolation, polynomial interpolation, spline interpolation and cubic interpolation; the state machine operation functions include OnAction, OnEnter and OnExit, etc.

[0091] S63. Transmitting the calculation results of each component and the current operating status of the rapid control prototype to the host computer;

[0092] As an example, the current running state of the rapid control prototype includes running abnormality information, running time, etc.

[0093] S64. Determine whether the preset termination condition is met, if so, execute S65; otherwise, jump to S62;

[0094] S65. Send a termination message to the host computer to terminate the operation of the rapid control prototype.

[0095] As a possible implementation method, parameter estimation is performed before running the rapid control prototype or before executing the running function corresponding to each component in sequence; parameter estimation is to convert the parameter assignment expression obtained in the parameter configuration dialog box into a numerical value.

[0096] As an example, users can choose the timing of parameter estimation based on their own needs. Performing parameter estimation before running a rapid control prototype can save running time. Performing parameter estimation before executing the running function corresponding to each component in turn can achieve online parameter adjustment without stopping the system. Parameter estimation is to convert the parameter assignment expression obtained in the parameter configuration dialog box into a numerical value. For example, parameter A = 1.2, parameter B = "2*A", and parameter estimation gives B = 2.4.

[0097] This method can realize the direct operation of the rapid control prototype on the lower computer, thereby avoiding the processes of C code generation, compilation, linking, downloading, etc. It can save a lot of time for creating rapid control prototypes, especially rapid control prototypes with higher complexity, and accelerate the verification and iteration of rapid control prototype design solutions.

[0098] See also Figure 6, showing the process comparison of rapid control prototyping and operation using the prior art and the method of the present invention. Assuming that the user adds an "addition add" component to calculate the sum of two input quantities as output, the prior art generates C code containing the above addition from the host computer model, and then calls the cross compiler and linker to generate an executable file that can be run in the lower computer, and then downloads the file to the lower computer for execution; while in the present invention, each step of the operation is converted into structured data and sent to the lower computer, and the lower computer performs the corresponding operation, that is, the rapid control prototyping program is already located in the lower computer, so there is no need to map it to C code, and directly run the operation function corresponding to the addition component to obtain the result, avoiding the generation of C code and subsequent compilation, linking, and downloading operations, saving time and cost, and greatly improving the convenience and ease of operation. In addition, the present invention adopts the method of cloud service plus Web application, which is easier to expand and can support application requirements such as remote design and collaborative design.

[0099] See also Figures 7 and 8 , which is the display interface when the method of the present invention is actually used on the PC side. The present invention does not need to rely on dedicated hardware and can be deployed and used on ordinary X86, ARM and other architectures.

[0100] In addition, the rapid control prototyping design method provided by the present invention, after verification, may need to transfer the rapid control prototyping program to a controller hardware with lower cost such as STM32 due to mass production demand. At this time, the rapid control prototyping generates C code on the lower computer and transfers it to the controller hardware. The present invention, according to the actual needs of the user, only executes C code generation once when code transfer is required after the rapid control prototyping design method is verified, which is suitable for both single development of rapid control prototyping and mass production.

[0101] In a second aspect, the present invention provides a rapid control prototyping system, see Fig. 9 , including: a browser 1 and a cloud service module 2, the cloud service module 2 includes an http service submodule 20, a rapid control prototype submodule 21 and an operation monitoring submodule 22;

[0102] The cloud service module 2 generates the IP and port number of the http service, the browser 1 logs in to the IP and port number, and sends a page request of the web application to the http service submodule 20;

[0103] The http service submodule 20 responds to the page request and sends the resource files required for creating the Web application to the browser 1, where the resource files at least include a controller model basic component description file; the browser 1 builds the Web application 10 based on the resource files sent by the http service submodule 20;

[0104] The rapid control prototype submodule 21 is used to parse the graphical modeling operations sent by the Web application and convert them into corresponding operations to obtain a rapid control prototype;

[0105] The operation monitoring submodule 22 is used to send a start-up operation message to the rapid control prototype submodule 21 to run the rapid control prototype and provide real-time feedback on the operation result.

[0106] As a possible implementation, the Web application 10 includes: a model library browser 100, a graphical modeling area 101, and a rapid control prototype operation monitoring window 102;

[0107] The model library browser 100 is used to provide basic components of the controller model;

[0108] The graphical modeling area 101 is used to provide graphical modeling operations based on the basic components of the controller model, and send each step of the graphical modeling operation to the rapid control prototyping submodule 21;

[0109] The rapid control prototype operation monitoring window 102 is used to display the operation result of the rapid control prototype.

[0110] In a third aspect, the present invention provides a terminal, including a processor and a communication interface coupled to the processor, wherein the processor is used to run a computer program or instruction to implement the rapid control prototyping method provided in the first aspect.

[0111] Although the present invention is described herein in conjunction with various embodiments, in the process of implementing the claimed invention, those skilled in the art may understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosure, and the drawings, etc. In the specification, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit can implement several functions listed in the specification. Certain measures are recorded in different embodiments, but this does not mean that these measures cannot be combined to produce good results.

[0112] Although the present invention has been described in conjunction with specific features and embodiments thereof, it is apparent that various modifications and combinations may be made thereto without departing from the spirit and scope of the present invention. Accordingly, this specification and the accompanying drawings are merely exemplary illustrations of the present invention and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present invention. Obviously, those skilled in the art may make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, the present invention is intended to include such modifications and variations if they fall within the scope of the present invention and its equivalents.

Claims

1. A rapid control prototyping method, characterized in that: include: S1. Add a cloud service program on the lower server, the cloud service program includes at least: http service subroutine, rapid control prototyping subroutine and operation monitoring subroutine; run the cloud service program, configure http service IP and port number; S2 starts the browser on the host computer, enters the IP and port number, and sends a page request for the Web application to the http service subroutine; S3. The http service subroutine responds to the page request, completes the communication connection between the host computer and the lower computer, and the lower computer sends the resource files required to create the Web application to the browser, the resource files include at least the basic component description file of the controller model; S4. The browser constructs a Web application based on the resource file, wherein the Web application includes at least: a model library browser, a graphical modeling area, and a rapid control prototype operation monitoring window; S5. Establishing an operation conversion protocol between the host computer and the slave computer, the Web application sends each step of the graphical modeling operation to the rapid control prototyping subroutine according to the operation conversion protocol, and the rapid control prototyping subroutine obtains a rapid control prototype according to the received modeling operation; S6. The rapid control prototype operation monitoring window in the Web application sends a start-up operation message to the rapid control prototype subroutine, the lower computer runs the rapid control prototype, and sends the operation result to the upper computer in real time, and maintains or updates the rapid control prototype according to the operation result.

2. The rapid control prototyping method according to claim 1, characterized in that: The host computer displays the operation result in the control prototype operation monitoring window to determine whether the operation result meets the design requirements. If so, the rapid control prototype is maintained; otherwise, S5 is executed to update the rapid control prototype.

3. The rapid control prototyping method according to claim 1, characterized in that: The graphical modeling area provides graphical modeling operations to complete rapid control prototyping; the graphical modeling operations at least include: drag-and-drop operations, wiring operations, and parameter configuration operations; The drag-and-drop operation is to drag the controller model basic element in the model library browser and place it into the graphical modeling area, and the Web application draws a graphic mark corresponding to the controller model basic element in the graphical modeling area; The connection operation is to click the input and output ports on the graphic mark in sequence, and the Web application draws a connection line in the graphic modeling area to establish a connection relationship between the graphic mark ports; The parameter configuration operation is to modify the parameter values ​​of the basic components of the controller model through the parameter configuration dialog box.

4. The rapid control prototyping method according to claim 1, characterized in that: The lower computer runs the rapid control prototype, including: S60. Preset the termination condition of the operation; S61. Determine whether it is the first run. If so, sort all components to obtain the first execution sequence of all components; otherwise, detect whether the topological relationship of the components in this run has changed compared with the last run; if so, re-sort all components to obtain the updated execution sequence of all components; otherwise, retain the historical execution sequence of all components in the last run; S62. Based on the execution sequence obtained in S61, execute the operation function corresponding to each component in turn to obtain the calculation result of each component; S63. Transmitting the calculation results of each component and the current operating status of the rapid control prototype to the host computer; S64. Determine whether the preset termination condition is met, if so, execute S65; otherwise, jump to S62; S65. Send a termination message to the host computer to terminate the operation of the rapid control prototype.

5. The rapid control prototyping method according to claim 1, characterized in that: The operation functions include: four arithmetic operations, trigonometric functions, logical operations, interpolation operations and state machine operations.

6. The rapid control prototyping method according to claim 1, characterized in that: An operation conversion protocol is established between the upper computer and the lower computer. Specifically, each graphical operation is represented by structured data and sent to the lower computer. The lower computer parses the received structured data into the corresponding operation.

7. The rapid control prototyping method according to claim 4, characterized in that: Parameter estimation is performed before running the rapid control prototype or before executing the running function corresponding to each component in sequence; the parameter estimation is to convert the parameter assignment expression obtained from the parameter configuration dialog box into a numerical value.

8. A rapid control prototyping system, characterized in that: include: Browser and cloud service module, the cloud service module includes http service submodule, rapid control prototyping submodule and operation monitoring submodule; The cloud service module generates an IP and port number of the http service, the browser logs in to the IP and port number, and sends a page request for the Web application to the http service submodule; The http service submodule responds to the page request and sends the resource files required for creating the Web application to the browser, wherein the resource files at least include a controller model basic component description file; The browser builds a Web application based on the resource files sent by the http service submodule; The rapid control prototype submodule is used to parse the graphical modeling operation sent by the Web application and convert it into corresponding operations to obtain a rapid control prototype; The operation monitoring submodule is used to send a start-up operation message to the rapid control prototype submodule to run the rapid control prototype and provide real-time feedback on the operation result.

9. The rapid control prototyping system according to claim 8, characterized in that: The Web application includes: a model library browser, a graphical modeling area, and a rapid control prototype operation monitoring window; The model library browser is used to provide basic components of controller models; The graphical modeling area is used to provide graphical modeling operations based on the controller model basic elements, and send each step of the graphical modeling operation to the rapid control prototyping submodule; The rapid control prototype operation monitoring window is used to display the operation result of the rapid control prototype.

10. A terminal, characterized in that: The invention comprises a processor and a communication interface coupled to the processor, wherein the processor is used to run a computer program or instruction to implement the rapid control prototyping method according to any one of claims 1 to 7.

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